WATERCRAFT

• US 20090076671A1
• Filed: 08/11/2008
• Published: 03/19/2009
• Est. Priority Date: 09/14/2007
• Status: Active Grant

• Current Assignee: Yamaha Hatsudoki Kabushiki Kaisha (Yamaha Corporation)
• Original Assignee: Yamaha Marine Kabushiki Kaisha
• Inventors: MIZUTANI, Makoto
• Granted Patent: US 8,965,606 B2
• Time in Patent Office: Days
• US Class Current: 701/21
• CPC Class Codes: B63H 2020/003 Arrangements of two, or more outboard propulsion units
• CPC Class Codes: B63H 2025/026 using multi-axis control levers, or the like, e.g. joysticks, wherein at least one degree of freedom is employed for steering, slowing down, or dynamic anchoring
• CPC Class Codes: B63H 21/22 the propulsion power units being controlled from exterior of engine room, e.g. from navigation bridge; Arrangements of order telegraphs
• CPC Class Codes: B63H 25/04 automatic, e.g. reacting to compass
• CPC Class Codes: G05D 1/0206 specially adapted to water vehicles

Abstract

A watercraft includes a plurality of watercraft operating devices arranged to adjust an amount and/or a direction of a propulsive force or a resistance provided to a prescribed position of the watercraft, operation devices arranged to operate the plurality of watercraft operating devices, actuators arranged to actuate the respective watercraft operating devices, and a control unit arranged to control an operation amount of each of the actuators based on an operational state of the operation devices. The control unit preferably includes a traveling state detecting device arranged to detect a traveling state of the watercraft, an operational state detecting device arranged to detect an operational state of the operation devices, a traveling plan estimating device arranged to estimate a traveling plan of an operator of the watercraft based on the traveling state and the operational state, and a watercraft operating device controlling device arranged to select one of the watercraft operating devices to be controlled from the plurality of watercraft operating devices, and arranged to control an operating amount of the actuator operating the watercraft operating device.

Claims

1. A watercraft comprising:

a plurality of watercraft operating devices arranged to adjust an amount and/or a direction of a propulsive force or a resistance provided to a prescribed position of the watercraft;

an operation device arranged to operate the plurality of watercraft operating devices;

actuators arranged to actuate respective ones of the watercraft operating devices; and

a control unit arranged to control an operation amount of each of the actuators based on an operational state of the respective operation devices, wherein the control unit includes;

a traveling state detecting device arranged to detect a traveling state of the watercraft;

an operational state detecting device arranged to detect an operational state of the operation device;

a traveling plan estimating device arranged to estimate a traveling plan of an operator of the watercraft based on the traveling state and the operational state; and

a watercraft operating device controlling device arranged to select at least one of the watercraft operating devices to be controlled, and arranged to control an operating amount of the actuator operating the at least one watercraft operating device to be controlled.

2. The watercraft according to claim 1, wherein the operation device includes:

a speed controlling system arranged to adjust a traveling speed of the watercraft; and

a direction controlling system arranged to adjust a traveling direction of the watercraft;

the watercraft operating devices include;

a propulsion adjusting system arranged to adjust an amount of the propulsive force or the resistance provided to the watercraft; and

a direction adjusting system arranged to adjust a direction and a point of application of the propulsive force or the resistance provided to the watercraft; and

the watercraft operating device controlling device includes the propulsion adjusting system as the at least one watercraft operating device to be controlled which is selected by operation of the direction controlling system.

3. The watercraft according to claim 1, wherein the watercraft operating device controlling device is arranged to:

determine a target movement change of the watercraft required in order to achieving the traveling plan;

calculate a target controlling force including an amount, a direction, and a point of application of the propulsive force or the resistance provided to the entire watercraft based on the target movement change;

select the at least one watercraft operating device to be controlled based on the target controlling force; and

determine an operation amount of the actuator of the at least one watercraft operation device.

4. The watercraft according to claim 3, wherein the watercraft operating device controlling device is arranged to set a new target movement change after controlling the operation amount of the actuator based on the traveling plan, and the target movement change corresponds to a deviation amount between a difference between the traveling states before and after the control and the target movement change.

5. The watercraft according to claim 1, wherein the watercraft operating device controlling device is arranged to select at least one other watercraft operating device other than the at least one watercraft operation device to be controlled, and determines an operation amount of the at least one other watercraft operating device as if the at least one watercraft operating device to be controlled is not working properly.